STM32F4 PWM脉冲个数控制台达伺服电机

年糕 · 发表于 2021-8-19 11:07:39

兄弟萌，我最近在做STM32F429控制台达的伺服电机驱动器。我这边用的主从定时器，一个负责输出PWM脉冲，一个负责计数。定时器频率较低的时候，脉冲个数还比较准确。但是频率一高（100K），就会出现脉冲丢失的问题。我发10000个脉冲就会丢失200-300个。但是台达的伺服电机驱动器的频率又是100K，每次脉冲输出都会丢失，而且丢失的个数也不固定。请问兄弟萌有没有整过。
void Tim3_Config_init(uint16_t TIM3_Prescaler, uint16_t TIM3_Period, uint16_t CCR_C)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);

GPIO_PinAFConfig(GPIOC,GPIO_PinSource8,GPIO_AF_TIM3);

TIM_DeInit(TIM3);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOC, &GPIO_InitStructure);

TIM_TimeBaseStructure.TIM_Prescaler=TIM3_Prescaler-1;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period=TIM3_Period-1;
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);

TIM_OCInitStructure.TIM_OCMode =TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCPolarity =TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OutputState =TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_Pulse = CCR_C ;

TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC3Init(TIM3, &TIM_OCInitStructure);

TIM_SelectMasterSlaveMode( TIM3, TIM_MasterSlaveMode_Enable);
TIM_SelectOutputTrigger( TIM3, TIM_TRGOSource_Update);

TIM_ARRPreloadConfig(TIM3, ENABLE);
}

void Tim5_Config(u16 PulseNum_C)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5,ENABLE);

TIM_TimeBaseStructure.TIM_Prescaler=0;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period=PulseNum_C;
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;

TIM_TimeBaseInit(TIM5,&TIM_TimeBaseStructure);

TIM_SelectInputTrigger(TIM5, TIM_TS_ITR1);
TIM_SelectSlaveMode(TIM5,TIM_SlaveMode_External1);

TIM_ITConfig(TIM4,TIM_IT_Update,DISABLE);

NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM5,TIM_IT_Update,DISABLE);
}

void Pulse_output_3(u32 Cycle_C,u16 PulseNum)
{
Tim5_Config(PulseNum);
TIM_Cmd(TIM5, ENABLE);
TIM_ClearITPendingBit(TIM5,TIM_IT_Update);
TIM_ITConfig(TIM5,TIM_IT_Update,ENABLE);
Tim3_Config_init(840, Cycle_C, Cycle_C / 2);
TIM_Cmd(TIM3, ENABLE);
}
void TIM5_IRQHandler(void)
{
if (TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET)
{
      TIM_ClearITPendingBit(TIM5, TIM_IT_Update);

      TIM_Cmd(TIM3, DISABLE);
      TIM_Cmd(TIM5, DISABLE);
      TIM_ITConfig(TIM5, TIM_IT_Update, DISABLE);

}
}

主函数里面就是
Pulse_output_3(10,10000);